YASKAWA MP210 Series User Manual page 165

P00122 H06.02
Main Program: Phase Control 2 (Electronic Cam)
Operation command
DB000000
Linear accelerator/decelerator input
0010
0028
Source 0.000000E+000
NL-1
Dest DF00012
Linear accelerator/decelerator input
0011 LAU
0030
Input DF00012
NL-1
Parameter DA00020
Output DF00040
Operation command
DB000000 Axis 1 speed command setting
0012
0031
Source DF00040
Zero speed
NL-1
DB000003
Dest OL8010
Zero speed
DB00020A
0013
0034
NL-1
########## Slave Axis Control Circuit ##########
########## Electronic Cam Phase Generated ##########
Cam operation command
Electronic cam phase
MB300008
0014
0036
Source 00000
NL-1
Dest DL00066
Master axis position FB (this scan)
0015
STORE
0038
Source IL8016
NL-1
Dest DL00060
Incremental value for master axis per scan
0016 SUBX
0039
SourceA DL00060
NL-1
SourceB DL00062
Dest DL00064
Master axis position FB (previous scan)
0017
STORE
0040
Source DL00060
NL-1
Dest DL00062
Addition of master axis increment
Electronic cam phase
0018
ADDX
0041
SourceA DL00064
NL-1
SourceB DL00066
Dest DL00066
Cycle detection
0019 EXPRESSION
0042
DB000008 = DL00066>=ML30202;
NL-1
DB000009 = DL00066<0;
STORE
STORE
STORE
4.4 Checking Sample Program Operation
Zero speed
DB000003
4
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